{"id":"https://openalex.org/W4311628386","doi":"https://doi.org/10.3390/s22239465","title":"Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy","display_name":"Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy","publication_year":2022,"publication_date":"2022-12-03","ids":{"openalex":"https://openalex.org/W4311628386","doi":"https://doi.org/10.3390/s22239465","pmid":"https://pubmed.ncbi.nlm.nih.gov/36502167"},"language":"en","primary_location":{"id":"doi:10.3390/s22239465","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239465","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9465/pdf?version=1670492668","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/23/9465/pdf?version=1670492668","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018785068","display_name":"Jihao Liu","orcid":"https://orcid.org/0000-0002-0639-5950"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jihao Liu","raw_affiliation_strings":["Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China"],"raw_orcid":"https://orcid.org/0000-0002-0639-5950","affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650064","display_name":"Wenyuan Sun","orcid":"https://orcid.org/0000-0002-6049-7843"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyuan Sun","raw_affiliation_strings":["Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China"],"raw_orcid":"https://orcid.org/0000-0002-6049-7843","affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058071459","display_name":"Yuyun Zhao","orcid":"https://orcid.org/0000-0003-0422-6077"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuyun Zhao","raw_affiliation_strings":["Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China"],"raw_orcid":"https://orcid.org/0000-0003-0422-6077","affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088035307","display_name":"Guoyan Zheng","orcid":"https://orcid.org/0000-0003-4173-0379"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guoyan Zheng","raw_affiliation_strings":["Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China"],"raw_orcid":"https://orcid.org/0000-0003-4173-0379","affiliations":[{"raw_affiliation_string":"Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5088035307"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.4292,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.52695584,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"22","issue":"23","first_page":"9465","last_page":"9465"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7502934336662292},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.7117401361465454},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.6962203979492188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6528347730636597},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.632507860660553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5724195837974548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.570898175239563},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.5543769598007202},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.3564523458480835},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.27521777153015137},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21356052160263062},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.18609419465065002},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15764814615249634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11794543266296387},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10592544078826904}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7502934336662292},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.7117401361465454},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.6962203979492188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6528347730636597},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.632507860660553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5724195837974548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.570898175239563},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.5543769598007202},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.3564523458480835},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.27521777153015137},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21356052160263062},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.18609419465065002},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15764814615249634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11794543266296387},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10592544078826904},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001707","descriptor_name":"Biopsy, Needle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000000981","qualifier_name":"diagnostic imaging","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D034941","descriptor_name":"Upper Extremity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22239465","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239465","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9465/pdf?version=1670492668","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:36502167","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36502167","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:016a40911b984062bf7353064a943f35","is_oa":true,"landing_page_url":"https://doaj.org/article/016a40911b984062bf7353064a943f35","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 22, Iss 23, p 9465 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/23/9465/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22239465","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 22; Issue 23; Pages: 9465","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9740029","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9740029","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22239465","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239465","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9465/pdf?version=1670492668","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7375283579","display_name":null,"funder_award_id":"20511105205","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G7506112388","display_name":null,"funder_award_id":"U20A20199","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G7520827639","display_name":null,"funder_award_id":"U20A20199","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G916223484","display_name":null,"funder_award_id":"20511105205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4311628386.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1544433213","https://openalex.org/W1547951369","https://openalex.org/W1970894228","https://openalex.org/W1981393236","https://openalex.org/W1990534280","https://openalex.org/W2006538208","https://openalex.org/W2015185374","https://openalex.org/W2044661246","https://openalex.org/W2055904866","https://openalex.org/W2066860967","https://openalex.org/W2071523568","https://openalex.org/W2072646240","https://openalex.org/W2089461082","https://openalex.org/W2094671128","https://openalex.org/W2094801294","https://openalex.org/W2106963684","https://openalex.org/W2108706932","https://openalex.org/W2125877634","https://openalex.org/W2127616209","https://openalex.org/W2148743128","https://openalex.org/W2150004404","https://openalex.org/W2172221059","https://openalex.org/W2243037613","https://openalex.org/W2286490889","https://openalex.org/W2410061664","https://openalex.org/W2513668259","https://openalex.org/W2516306145","https://openalex.org/W2739374696","https://openalex.org/W2766639683","https://openalex.org/W2768788818","https://openalex.org/W2910789091","https://openalex.org/W2922995303","https://openalex.org/W2947832279","https://openalex.org/W2986315147","https://openalex.org/W3028401606","https://openalex.org/W3119707211","https://openalex.org/W3154781225","https://openalex.org/W3180929950","https://openalex.org/W6685161280","https://openalex.org/W6758679721"],"related_works":["https://openalex.org/W2417440389","https://openalex.org/W4385556839","https://openalex.org/W4378746257","https://openalex.org/W2734382758","https://openalex.org/W2109481748","https://openalex.org/W2381719890","https://openalex.org/W2948918209","https://openalex.org/W2040853802","https://openalex.org/W4206096448","https://openalex.org/W3164202441"],"abstract_inverted_index":{"In":[0],"robot-assisted":[1,35],"ultrasound-guided":[2],"needle":[3,36,142],"biopsy,":[4],"it":[5],"is":[6,109],"essential":[7],"to":[8,16,25,63,68,78,104,136,148],"conduct":[9],"calibration":[10,19,53,99],"of":[11,20,89,92,123,151,154,169],"the":[12,21,64,69,80,93,102,106,138,160,167,170],"ultrasound":[13,32,48,65,81,132],"probe":[14,49,66],"and":[15,34,50,67,126],"perform":[17],"hand-eye":[18,52,112],"robot":[22,51,94,139],"in":[23,120,134],"order":[24,135],"establish":[26],"a":[27,40,75],"link":[28],"between":[29],"intra-operatively":[30,130],"acquired":[31,131],"images":[33,133],"insertion.":[37],"Based":[38],"on":[39],"high-precision":[41],"optical":[42],"tracking":[43],"system,":[44],"novel":[45],"methods":[46],"for":[47,111,119,140],"are":[54],"proposed.":[55],"Specifically,":[56],"we":[57],"first":[58],"fix":[59],"optically":[60],"trackable":[61],"markers":[62],"robot,":[70],"respectively.":[71],"We":[72],"then":[73],"design":[74],"five-wire":[76],"phantom":[77],"calibrate":[79],"probe.":[82],"Finally,":[83],"an":[84,97],"effective":[85],"method":[86],"taking":[87],"advantage":[88],"steady":[90],"movement":[91],"but":[95],"without":[96],"additional":[98],"frame":[100],"or":[101],"need":[103],"solve":[105],"AX=XB":[107],"equation":[108],"proposed":[110,171],"calibration.":[113],"After":[114],"calibrations,":[115],"our":[116,155],"system":[117,156,162],"allows":[118],"situ":[121],"definition":[122],"target":[124],"lesions":[125],"aiming":[127],"trajectories":[128],"from":[129],"align":[137],"precise":[141],"biopsy.":[143],"Comprehensive":[144],"experiments":[145],"were":[146],"conducted":[147],"evaluate":[149],"accuracy":[150],"different":[152],"components":[153],"as":[157,159],"well":[158],"overall":[161],"accuracy.":[163],"Experiment":[164],"results":[165],"demonstrated":[166],"efficacy":[168],"methods.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}